Brandon Weiner and Carlos Tallard
Complete Build
Dependencies: 4DGL-uLCD-SE1 Motor SDFileSystem X_NUCLEO_53L0A1 mbed-rtos mbed BotwithWavePlayerLevel
Fork of
BotWithBluetoothLIDARV2
by 
Brandon Weiner and Carlos Tallard
Revision 16:61e88b0e3689, committed 2017-11-16
- Comitter:
- bdragon52
- Date:
- Thu Nov 16 16:45:51 2017 +0000
- Parent:
- 15:c8360ceaad61
- Child:
- 17:2c6549be1ecb
- Commit message:
- Bot with Lidar
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motor.lib Thu Nov 16 16:45:51 2017 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/simon/code/Motor/#f265e441bcd9
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/X_NUCLEO_53L0A1.lib Thu Nov 16 16:45:51 2017 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/teams/ST/code/X_NUCLEO_53L0A1/#27d3d95c8593
--- a/main.cpp Mon Oct 16 02:23:52 2017 +0000
+++ b/main.cpp Thu Nov 16 16:45:51 2017 +0000
@@ -1,254 +1,200 @@
+
#include "mbed.h"
+#include "Motor.h"
#include "rtos.h"
-#include "uLCD_4DGL.h"
-#include "SDFileSystem.h"
-#include "wave_player.h"
-//nclude "picojpeg.h"
-Serial blues(p13,p14);
-Serial pc(USBTX, USBRX);
-SDFileSystem sd(p5, p6, p7, p9, "sd"); //SD card
+#include "SDFileSystem.h"
+SDFileSystem sd(p5, p6, p7, p29, "sd");
+
+#include "wave_player.h"
AnalogOut DACout(p18);
-
wave_player waver(&DACout);
-
-PwmOut red(p23);
-PwmOut blue(p21);
-PwmOut green(p22);
- Thread *(test);
-PwmOut myled(LED1);
-uLCD_4DGL uLCD(p28,p27,p30);
-Semaphore three_slots(1);
-Thread thread2;
-Thread thread3;
-Thread thread4;
-Thread thread5;
-Thread thread6;
+
- float y=0.0;
- int c=80;
- int d=1;
-char bnum=0;
-char current='1';
-int color=YELLOW;
-
-char previousButton;
+//BusOut myled(LED1,LED2,LED3,LED4);
+#include "XNucleo53L0A1.h"
+#include <stdio.h>
+Serial pc(USBTX,USBRX);
+DigitalOut shdn(p26);
+//I2C sensor pins
+#define VL53L0_I2C_SDA p28
+#define VL53L0_I2C_SCL p27
+static XNucleo53L0A1 *board=NULL;
+DigitalOut myled (LED2);
+Serial blue(p9,p10);
+Motor RW(p22, p13, p12); // pwm, fwd, rev
+Motor LW(p21, p8, p11); // pwm, fwd, rev
+Thread lidar;
+Thread siren;
+uint32_t distance;
+FILE *wave_file;
-double w; //Angular frequency of sinusoidal wave controlling RGB LED
-double k;
-
-FILE *wave_file;
-
-void t2() {
- while (true) {
- int a=20;
- int r=8;
-
- three_slots.wait();
- uLCD.background_color(BLACK);
- uLCD.cls();
- uLCD.filled_circle(a, 105-(y*80), r, BLUE);
- uLCD.line(3,25,13,25,RED);
- uLCD.line(3,105,13,105,RED);
-
-
- //while(b<100){
- // uLCD.filled_circle(a, b, r, BLUE);
- // b=b+1;
- // uLCD.filled_circle(a, b-1, r, BLACK);
- // uLCD.filled_circle(a, b, r, BLUE);
- // Thread::wait(1000.0*0.002);
- // }
- //while(b>50){
- // uLCD.filled_circle(a, b, r, BLUE);
- // b=b-1;
- // uLCD.filled_circle(a, b+2, r, BLACK);
- // uLCD.filled_circle(a, b, r, BLUE);
- //Thread::wait(1000.0*0.002);
- // }
-
- three_slots.release();
- Thread::wait(50);
-
- }
+
+
+void t3(){
+
+ while(1){
+
+ wave_file=fopen("/sd/Bee Gees - Stayin' Alive.wav","r");
+ waver.play(wave_file);
+ fclose(wave_file);
+ Thread::wait(50);
}
-
- void t3() {
- while (true) {
-
-
- wave_file=fopen("/sd/Bee Gees - Stayin' Alive.wav","r");
- waver.play(wave_file);
- fclose(wave_file);
- Thread::wait(1000);
- }
-}
-
- void t6() {
- while (true) {
-
- wave_file=fopen("/sd/Joey Scarbury - Believe it or Not.wav","r");
- waver.play(wave_file);
- fclose(wave_file);
- Thread::wait(1000);
- }
}
-void t4() {
- while (true) {
-
- three_slots.wait();
-
- if(c==70){
- d=20;
- }
- if(c==110){
- d=-20;
- }
-
- uLCD.filled_circle(c, 64 , 10, WHITE);
- uLCD.filled_circle(c, 64 , 8, color);
- Thread::wait(50);
- uLCD.filled_circle(c, 64 , 10, BLACK);
- c=c+d;
- uLCD.filled_circle(c, 64 , 10, color);
- uLCD.filled_circle(c, 64 , 8, WHITE);
- Thread::wait(50);
- uLCD.filled_circle(c, 64 , 10, BLACK);
-
- three_slots.release();
- Thread::wait(50);
-
+void t2() {
+
+ int status;
+ DevI2C *device_i2c = new DevI2C(VL53L0_I2C_SDA, VL53L0_I2C_SCL);
+ /* creates the 53L0A1 expansion board singleton obj */
+ board = XNucleo53L0A1::instance(device_i2c, A2, D8, D2);
+ shdn = 0; //must reset sensor for an mbed reset to work
+ Thread::wait(100);
+ shdn = 1;
+ Thread::wait(100);
+ /* init the 53L0A1 board with default values */
+ status = board->init_board();
+ while (status) {
+ pc.printf("Failed to init board! \r\n");
+ status = board->init_board();
}
-}
-
-
-void t5(){
-
- char bhit = 0;
- //double d = 10;
-
- while(true){
+ //loop taking and printing distance
-
- if(blues.readable()==1){
- three_slots.wait();
- if (blues.getc()=='!') {
- if (blues.getc()=='B') { //button data
- bnum = blues.getc(); //button number
- bhit = blues.getc(); //button hit = 1; miss = 0;
-
- if ((bnum>='1')&&(bnum<='8')){ //is a number button 1..4
- current=bnum;
- //pc.printf("Button Pressed %c bhit = %c PreviousButton = %c CurrentButton = %c\n\r", bnum, bhit, previousButton, current);
- previousButton = current;
- if(current=='1'){
- color=YELLOW;
- }
- if(current=='2'){
- color=BLUE;
- }
- if(current=='3'){
- color=0x551A8B; //Purple
- }
- if(current=='4'){
- color=GREEN;
- }
- if(current =='5' && bhit == '0'){
- color=BLACK;
- thread3.terminate();
- //thread3.join();
- fclose(wave_file);
- if(wave_file != NULL){
- pc.printf("after close t3, file is not NULL\n\r");
- }
- Thread::wait(100);
- thread6.start(t6);
- }
-
- if(current =='6' && bhit == '0'){
- color=RED;
- thread6.terminate();
- //thread6.join();
- fclose(wave_file);
- if(wave_file != NULL){
- pc.printf("after close t6, file is not NULL\n\r");
- }
- Thread::wait(100);
- thread3.start(t3);
- }
- if(current =='8' && bhit == '0'){
- color=ORANGE;
- k = k*2;
- if(k > 8.0){
- k = 8.0;
- }
-
-
- }
- if(current =='7' && bhit == '0'){
- color=0x00FFFF;
- k = k*0.5;
-
- if(k < 0.125){
- k = 0.125;
- }
-
- }
-
-
- }//end of if bnum 1 -8
- }//end of if getc B
- }//end of if getc !
- three_slots.release();
- }// end of if readable
- Thread::yield();
-
-
+ bool speakerOn=false;
+
+ while (1) {
+ status = board->sensor_centre->get_distance(&distance);
+ if (status == VL53L0X_ERROR_NONE) {
+ //pc.printf("D=%ld mm\r\n", distance);
+ }
+
+ //LIDAR checks
-
-
- Thread::wait(50);
-
- }// end of while loop
+ /* if(speakerOn==false && distance<=100) //thread start sound, speakerOn=true;
+ if(speakerOn==true && distance<=100) //certain volume
+ if(speakerOn==true && distance<50) //higher volume;
+ if(distance>100) //thread stop, speakerOn==false;
+ */
+ //siren.start(t3);
+ myled=!myled;
+ Thread::wait(500);
+ }
}
-
-int main() {
- thread2.start((t2));
- thread3.start(t3);
- thread4.start((t4));
- thread5.start((t5));
+
- test = &thread4;
- test->set_priority(osPriorityHigh);
-
-
-
- previousButton = '0';
-
- k = 1.0;
+int main()
+{
+ myled=0;
+ //lidar.start(t2);
+ //siren.start(t3);
+ char bnum=0;
+ char bhit=0;
while(1) {
- for(double x=0.0; x <= 100/k; x = x + 1) {
- w = 3.14159*k/100.0;
- y = sin(w*x);
- red= y*y*y;
- blue= y*y*y;
- green= y*y*y;
- Thread::wait(1000.0*.025);
+
+ if(blue.readable()==1){
+ if (blue.getc()=='!') {
+ if (blue.getc()=='B') { //button data packet
+ bnum = blue.getc(); //button number
+ bhit = blue.getc(); //1=hit, 0=release
+ if (blue.getc()==char(~('!' + 'B' + bnum + bhit))) { //checksum OK?
+ //myled = bnum - '0'; //current button number will appear on LEDs
+ switch (bnum) {
+ case '1': //number button 1
+ if (bhit=='1') {
+ RW.speed(1);
+ //add hit code here
+ } else {
+ //add release code here
+ }
+ break;
+ case '2': //number button 2
+ if (bhit=='1') {
+ RW.speed(0);
+ LW.speed(0);
+ //add hit code here
+ } else {
+ //add release code here
+ }
+ break;
+ case '3': //number button 3
+ if (bhit=='1') {
+ //add hit code here
+ } else {
+ //add release code here
+ }
+ break;
+ case '4': //number button 4
+ if (bhit=='1') {
+ //add hit code here
+ } else {
+ //add release code here
+ }
+ break;
+ case '5': //button 5 up arrow
+ if (bhit=='1') {
+ //add hit code here
+
+ RW.speed(1.0);
+ LW.speed(1.0);
+
+ } else {
+
+ LW.speed(0);
+ RW.speed(0);
+ //add release code here
+ }
+ break;
+ case '6': //button 6 down arrow
+ if (bhit=='1') {
+ RW.speed(-1.0);
+ LW.speed(-1.0);
+ //add hit code here
+ } else {
+ RW.speed(0);
+ LW.speed(0);
+ //add release code here
+ }
+ break;
+ case '7': //button 7 left arrow
+ if (bhit=='1') {
+ RW.speed(1);
+ LW.speed(-1);
+ //add hit code here
+ } else {
+
+ RW.speed(0);
+ LW.speed(0);
+ //add release code here
+ }
+ break;
+ case '8': //button 8 right arrow
+ if (bhit=='1') {
+ RW.speed(-1);
+ LW.speed(1);
+ //add hit code here
+ } else {
+ RW.speed(0);
+ LW.speed(0);
+ //add release code here
+ }
+ break;
+ default:
+ break;
+ }
+ }
+ }
+ }
+
+ }
+
+ Thread::yield();
+
}
- //red= 0.0;
- //blue= 0.0;
- //green= 0.0;
- //Thread::wait(1000.0*2.5/w);
- }
-
-
-
-}
+ }
\ No newline at end of file